#!/bin/sh
#
# @name Steadidrone MAVRIK
#
# @type Octo Coax Wide
# @class Copter
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output MAIN5 motor 5
# @output MAIN6 motor 6
# @output MAIN7 motor 7
# @output MAIN8 motor 8
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.mc_defaults

if [ $AUTOCNF = yes ]
then
	param set MC_PITCH_P 4
	param set MC_PITCHRATE_P 0.24
	param set MC_PITCHRATE_I 0.09
	param set MC_PITCHRATE_D 0.013
	param set MC_PITCHRATE_MAX 180

	param set MC_ROLL_P 4
	param set MC_ROLLRATE_P 0.16
	param set MC_ROLLRATE_I 0.07
	param set MC_ROLLRATE_D 0.009
	param set MC_ROLLRATE_MAX 180

	param set MC_YAW_P 3
	param set MC_YAWRATE_P 0.2
	param set MC_YAWRATE_I 0.1
	param set MC_YAWRATE_D 0

	param set MPC_HOLD_MAX_XY 0.25
	param set MPC_THR_MIN 0.15
	param set MPC_Z_VEL_MAX_DN 2

	param set BAT_N_CELLS 4
fi

set MIXER octo_cox_w

set PWM_OUT 12345678
